WO2014135243A2 - Procédé servant à commander des véhicules, en particulier des véhicules de transport, d'une installation - Google Patents

Procédé servant à commander des véhicules, en particulier des véhicules de transport, d'une installation Download PDF

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Publication number
WO2014135243A2
WO2014135243A2 PCT/EP2014/000359 EP2014000359W WO2014135243A2 WO 2014135243 A2 WO2014135243 A2 WO 2014135243A2 EP 2014000359 W EP2014000359 W EP 2014000359W WO 2014135243 A2 WO2014135243 A2 WO 2014135243A2
Authority
WO
WIPO (PCT)
Prior art keywords
vehicles
segment
vehicle
time step
route
Prior art date
Application number
PCT/EP2014/000359
Other languages
German (de)
English (en)
Other versions
WO2014135243A3 (fr
Inventor
Thomas Schäfer
Quamrul Hasan Mallik
Josef Schmidt
Ulrich Stockenberger
Roman KAZAROV
Original Assignee
Sew-Eurodrive Gmbh & Co. Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sew-Eurodrive Gmbh & Co. Kg filed Critical Sew-Eurodrive Gmbh & Co. Kg
Priority to EP14704285.7A priority Critical patent/EP2965160B1/fr
Publication of WO2014135243A2 publication Critical patent/WO2014135243A2/fr
Publication of WO2014135243A3 publication Critical patent/WO2014135243A3/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles

Definitions

  • the invention relates to a method for controlling the vehicles, in particular
  • Transport vehicles, a plant and plant Transport vehicles, a plant and plant.
  • the invention is therefore based on the object, a method for controlling the
  • Vehicles especially transport vehicles to develop a plant
  • the object is achieved in the method according to claim 1 or 2 and in the system according to the features indicated in claim 8.
  • routes of the vehicles are determined, wherein the route of each vehicle is represented by a temporal sequence of segments, each time step associated with a respective segment is, each route from a respective start segment to a target segment, each segment is a segment of the travel range of the vehicles, in particular wherein the segment is a line segment, a surface segment or a
  • each segment being extended such that each of the vehicles needs a finite non-vanishing time to pass through the segment, wherein the segments do not overlap, with no more than a single vehicle in any one of the segments, in particular each vehicle having a position detection system and a communication link to a central controller in the plant, in particular cyclically repeating the positions of the vehicles be captured and transmitted to a central controller .
  • the advantage here is that not the trajectory, so the position sequence is given but only the segment sequence, the vehicle controls its position or train itself. From a central control that is determined at each time step for each vehicle segment determined segment. The vehicle may only move within the segment in the time period corresponding to the time step. In this case, the vehicle steers along a trajectory which is directed towards the segment specified for the next time step. In this next time step, the vehicle then has to enter the next segment and there again turn towards the next segment.
  • Transport vehicles a system according to claim 2, that in a first step, the routes of the vehicles are determined from a respective start position to a target position, at no time step, the routes intersect, so in particular at each time step, the respective route positions of the vehicles spaced are.
  • the advantage here is that collisions are avoidable by the routes in the space-time collision-free determinable.
  • the positions of the vehicles are detected in a second step and transmitted to a central control, wherein the detection and transmission is cyclically repeated. It is advantageous in this case that a deviation from the desired trajectory, in particular desired sequence of the segments, which exceeds a critical extent, can be recognized and a recalculation of the route for the deviating vehicle or for all vehicles can be carried out.
  • a travel range segment is determined as the respective route to each time step, ie in particular the route corresponds to a series of travel range segments assigned to a respective time step, in particular wherein each travel range segment is so large that one of the travel ranges
  • the advantage here is that no collisions occur.
  • the route when a vehicle deviates from the route determined for the vehicle, the route is again determined for the vehicle, the routes intersecting each other at any time step, in particular at each time step each vehicle is arranged in a respective different segment and / or the respective route positions of the vehicles are spaced apart.
  • the vehicles are assigned a priority level and in the determination of routes, those routes which are provided for vehicles with a higher priority level are primarily determined. The advantage here is that the higher-priority vehicles may travel through a shorter lane and thus reach the destination faster.
  • each vehicle has a sensor for monitoring a room area, in particular wherein the space area is provided relative to the vehicle.
  • each vehicle has a position detection system and is set up for data transmission with a central controller.
  • the vehicle has an electric motor drive for moving the vehicle in the travel range, wherein the drive has an electric motor which can be supplied from an energy storage of the vehicle and / or which can be supplied from a secondary winding, which inductively coupled with a stationarily installed in the plant primary conductor.
  • the drive has an electric motor which can be supplied from an energy storage of the vehicle and / or which can be supplied from a secondary winding, which inductively coupled with a stationarily installed in the plant primary conductor.
  • FIG. 1 shows a respective travel route of two vehicles (1, 2) on a discrete, two-dimensional surface.
  • FIG. 2 shows a spatial representation of the travel routes of two vehicles (1, 2) in the room.
  • travel routes are determined for respective vehicles (1, 2), which travel from a respective start position to a respective destination position.
  • the routes of the vehicles (1, 2) may intersect.
  • the range of travel achievable by the respective vehicle (1, 2) is two-dimensional. However, if a respective vehicle also has a hoist, that of the respective vehicle (1, 2) or at least the load transported by this is achievable
  • the travel range is divided into discrete segments. Each of these segments is larger than each of the vehicles (1, 2). Each segment is thus in two-dimensional design, a surface portion, in particular a rectangle, square or the like space-filling arrangeable spatial body and three-dimensional one
  • Block section or cube section or the like can be arranged in a space-filling manner
  • a route is thus defined by a sequence of segments, each segment of time being assigned a segment.
  • the real lane of the respective vehicle is designed in such a way that the vehicle ensures that it is located in the segment belonging to the time step.
  • the position of the vehicle within each segment is irrelevant.
  • the routes are determined by a central controller such that at a time step each vehicle is located in a different segment. None have two or more vehicles at a time step in the same segment. Thus, collisions are certainly avoidable.
  • Each vehicle also includes a sensor for detecting objects or persons located or appearing within the sensitive area of the sensor. Upon detection of such an object or such a person, the vehicle is stopped and / or an evasive maneuver is performed, so that the
  • Vehicle deviates from the route determined by the central control, ie setpoint route.
  • the vehicles each have a position detection system and report their respective position recurring, in particular cyclically and / or temporally regularly to the central control.
  • a radio channel in particular WLAN, or infrared is used.
  • a new setpoint route is determined by the central control for the corresponding vehicle, this new setpoint route again being determined without colliding with one of the routes of the remaining vehicles.
  • new set routes are determined for all vehicles, that is to say the routes are calculated from the present actual positions to the destination positions.
  • the vehicles are designed as transport vehicles, in particular as an automatic guided vehicle (AGV) or as a driverless transport system (AGV)
  • AGV automatic guided vehicle
  • AGV driverless transport system
  • Route determination also takes into account a priority assigned to the respective vehicle. First, the shortest or fastest traversable routes for the
  • Vehicles of the highest priority then determine the routes of the lower priority vehicles. These steps will determine the routes for the vehicles with the lowest priority.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé servant à commander des véhicules, en particulier des véhicules de transport, d'une installation. Ledit procédé consiste à : déterminer des itinéraires pour les véhicules ; à représenter l'itinéraire de chaque véhicule par une suite de segments selon un ordre chronologique, chaque itinéraire allant respectivement d'un segment de départ jusqu'à un segment de destination. Chaque segment représente ici un segment de la zone parcourue par les véhicules, en particulier ledit segment est un segment linéaire, un segment de surface ou un segment spatial. Chaque segment présente une étendue telle que chacun des véhicules requiert, pour le traverser, une durée limitée non évanouissante, les segments ne se chevauchant pas. A aucun moment, plus d'un seul véhicule se trouve sur l'un des segments. Chaque véhicule comporte en particulier un système de détection de position et l'installation dispose d'une liaison de transmission de données vers une commande centrale, la détection des positions des véhicules se répétant en particulier de manière cyclique, lesquelles positions sont transférées à une commande centrale.
PCT/EP2014/000359 2013-03-07 2014-02-10 Procédé servant à commander des véhicules, en particulier des véhicules de transport, d'une installation WO2014135243A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14704285.7A EP2965160B1 (fr) 2013-03-07 2014-02-10 Procédé servant à commander des véhicules, en particulier des véhicules de transport, d'une installation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013003834.0A DE102013003834A1 (de) 2013-03-07 2013-03-07 Verfahren zur Steuerung der Fahrzeuge, insbesondere Transportfahrzeuge, einer Anlage
DE102013003834.0 2013-03-07

Publications (2)

Publication Number Publication Date
WO2014135243A2 true WO2014135243A2 (fr) 2014-09-12
WO2014135243A3 WO2014135243A3 (fr) 2014-11-20

Family

ID=50101861

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/000359 WO2014135243A2 (fr) 2013-03-07 2014-02-10 Procédé servant à commander des véhicules, en particulier des véhicules de transport, d'une installation

Country Status (3)

Country Link
EP (1) EP2965160B1 (fr)
DE (1) DE102013003834A1 (fr)
WO (1) WO2014135243A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021093419A1 (fr) * 2019-11-12 2021-05-20 深圳创维数字技术有限公司 Procédé et appareil de navigation sur un trajet et support de stockage lisible par ordinateur
CN113888863A (zh) * 2021-09-18 2022-01-04 中电智能技术南京有限公司 一种基于电子地图的污泥运输监管系统及方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3525143A1 (fr) * 2018-02-13 2019-08-14 MAGNA STEYR Fahrzeugtechnik AG & Co KG Dispositif pour commander une flotte de véhicules autonomes
TWI810455B (zh) * 2020-05-21 2023-08-01 微星科技股份有限公司 載具分派系統及載具分派方法

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JPH0785205B2 (ja) * 1985-08-30 1995-09-13 テキサス インスツルメンツインコ−ポレイテツド モ−タで操向を制御される多重ホイ−ル車両用のフエイルセ−フ制動装置
US5179329A (en) * 1989-04-25 1993-01-12 Shinko Electric Co., Ltd. Travel control method, travel control device, and mobile robot for mobile robot systems
DE4421821A1 (de) * 1994-06-22 1996-01-04 Fritz Prof Dr Ing Frederich Selbstorganisierende Fahrzeuge
KR100670565B1 (ko) * 2004-04-01 2007-01-18 재단법인서울대학교산학협력재단 확장된 충돌 지도를 이용한 다개체 로봇의 충돌 회피 방법및 그 방법을 기록한 컴퓨터로 판독 가능한 기록 매체
JP4348276B2 (ja) * 2004-11-02 2009-10-21 本田技研工業株式会社 ロボット制御装置
US7920962B2 (en) * 2006-06-19 2011-04-05 Kiva Systems, Inc. System and method for coordinating movement of mobile drive units
JP4798554B2 (ja) * 2009-03-05 2011-10-19 村田機械株式会社 走行車の走行制御システムと制御方法
EP2508956B1 (fr) * 2011-04-06 2013-10-30 Kollmorgen Särö AB Procédé et système d'évitement de collisions

Non-Patent Citations (1)

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Title
None

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021093419A1 (fr) * 2019-11-12 2021-05-20 深圳创维数字技术有限公司 Procédé et appareil de navigation sur un trajet et support de stockage lisible par ordinateur
CN113888863A (zh) * 2021-09-18 2022-01-04 中电智能技术南京有限公司 一种基于电子地图的污泥运输监管系统及方法

Also Published As

Publication number Publication date
EP2965160B1 (fr) 2019-10-02
WO2014135243A3 (fr) 2014-11-20
EP2965160A2 (fr) 2016-01-13
DE102013003834A1 (de) 2014-09-11

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